Abstract
In this paper, we propose a decentralized motion control algorithm of multiple mobile manipulators for handling a single object in cooperation with a human. In the proposed control algorithm, the grasping point of the mobile manipulator is controlled as if it has a caster-like dynamics referred to as virtual 3-D caster, and each mobile manipulator could handle the object based on an intentional force/moment applied by a human. In addition, the coordinated motion control algorithm between the manipulator and the mobile base for each mobile manipulator is designed. By using these motion control algorithms, the coordination among multiple mobile manipulators is realized without using the geometric relations among robots. The proposed control algorithms are experimentally applied to two mobile manipulators and experimental results illustrate the validity of the proposed control algorithms. Copyright © 2006 by The Japan Society of Mechanical Engineers.
| Original language | English |
|---|---|
| Pages (from-to) | 613-619 |
| Journal | JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing |
| Volume | 48 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - 15 Jun 2006 |
| Externally published | Yes |
Bibliographical note
Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].Research Keywords
- Coordinated motion control
- Human-robots interaction
- Manipulator
- Motion control
- Moving robot
- Virtual 3-D caster dynamics
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